Twisted bilayer graphene (TBG) represents a highly tunable, strongly correlated electron system owed to its unique flat electronic bands. However, understanding the single-particle band structure alone has been challenging due to complex lattice reconstruction effects and a lack of spectroscopic measurements over a broad energy range. Here, we probe the band structure of TBG around the magic angle using infrared spectroscopy. Our measurements reveal spectral features originating from interband transitions whose energies are uniquely defined by the twist angle. By combining with quantum transport, we connect spectral features over a broad energy range (10 to 700 meV) spanning several superlattice minibands and track their evolution with twist angle. We compare our data with calculations of the band structures obtained via the continuum model and find good agreement only when considering a variation of interlayer/intralayer tunnelling parameters with the twist angle. Our analysis suggests that the magic angle also shifts due to lattice relaxation, and is better defined for a wide angular range from 0.9{\deg} to 1.1{\deg}. Our work provides spectroscopic insights into TBG's band structure and offers an optical fingerprint of the magic angle for screening heterostructures before nanofabrication.
